Video

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Frame Analysis

12:23:11 0:01 observation 12:23:12
1 12:23:11
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2 12:23:11
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3 12:23:11
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Phases

Phase Detail Progress Time Elapsed
init 0% 13:23:11 0.006s
add_topping 0% 13:23:11 0.011s

Machine Logs

13:23:11.977 crepe_log_node Action status update: 1
13:23:11.977 make_crepe_action Executing make_crepe action
13:23:11.979 make_crepe_action Executing single step: add_topping
13:23:11.980 make_crepe_action add_topping started
13:23:11.980 crepe_log_node Crepe logging started: /home/maus/crepes_made_logs/2026-01-25_13-23-11/session.json

Comments

Parameters

dispense.dough

density 0.0011
dm 322.5
flowrate 11
gap 34
max_g_per_rot 3
offset 2
port 0
r_min 2
r0 160
rpm_max 320
spin_out 360
steps 30
tau 686

dispense.oiling

density 0.000005
dm 304
flowrate 0.066
gap 60
offset 13
r_min 27
r0 160
steps 30
valve_closed 70
valve_open 0.1

dispense.toppings

available ["plain","apple","chocolate","blueberry"]
svg_design_center [200,200]
svg_file_path /home/maus/ros2_ws/src/recipe_runner/recipe_runner/svg_designs/maus-image.svg
svg_resolution 10

dispense.toppings.apple

name apple

dispense.toppings.appple

density 0.016
description Apfelmus
display_name Apfelmuss
dm 310
flowrate 1.1
max_g_per_rot 0.88
port 1
rpm_max 180
tau 175.5

dispense.toppings.blueberry

density 0.016
description Blueberry topping
display_name Blueberry Sauce
dm 285
flowrate 1.1
max_g_per_rot 0.88
name blueberry
port 3
rpm_max 180
tau 175.5

dispense.toppings.chocolate

density 0.016
description Rich chocolate topping
display_name Chocolate Sauce
dm 297.5
flowrate 1.1
max_g_per_rot 0.88
name chocolate
port 2
rpm_max 180
tau 175.5

dispense.toppings.plain

description Just the pure crêpe.
display_name Plain
name plain

general

start_type_description_service true
use_sim_time false

machine

a_max_deg_per_min 13000
pos_idle G1 X0 Y0 Z0 B10 C5 F20000
x_scrape -115
x_spread 23
y_center -53
y_end -90
y_start -15
z_offsets_every30deg [-2.2,-2.4,-2.5,-2.85,-3.2,-3,-2.85,-2.7,-2.6,-2.8,-2.65,-2.5]
z_scrape_start -26.5
z_spread_end -12.3
z_spread_start -13.6
z_thread_pitch 15